WO2008051182A1 - Automatic detection of gps sa base value for hfom - Google Patents

Automatic detection of gps sa base value for hfom Download PDF

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Publication number
WO2008051182A1
WO2008051182A1 PCT/US2006/029511 US2006029511W WO2008051182A1 WO 2008051182 A1 WO2008051182 A1 WO 2008051182A1 US 2006029511 W US2006029511 W US 2006029511W WO 2008051182 A1 WO2008051182 A1 WO 2008051182A1
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WO
WIPO (PCT)
Prior art keywords
gps
hfom
engine
value
determining
Prior art date
Application number
PCT/US2006/029511
Other languages
French (fr)
Inventor
Kevin J. Conner
Steve C. Johnson
Original Assignee
Honeywell International Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honeywell International Inc. filed Critical Honeywell International Inc.
Priority to DE602006018071T priority Critical patent/DE602006018071D1/en
Priority to EP06851854A priority patent/EP2016439B1/en
Publication of WO2008051182A1 publication Critical patent/WO2008051182A1/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position

Definitions

  • GPS Global Positioning System
  • SA Selective Availability
  • SA-on/off Selective Availability
  • Dynamic SA-on/off Dynamic SA-on/off.
  • the SA-on engine will report numbers with accuracy of 55 to 100 meters.
  • the SA-on/off engine will report HFOMs of 18 to 46 meters.
  • the Dynamic SA-on/off engine will report HFOMs of 10 to 18 meters.
  • the HFOM is generally acceptable when received from the SA-on/off and Dynamic SA-on/off engines, accommodating the SA-on engine requires expanding the threshold values. Therefore, there is a need to detect the GPS engine type of a receiver to allow receiving systems to optimally operate.
  • the invention determines the engine type by using Horizontal Figure of Merit (HFOM) and Horizontal Dilution of Precision (HDOP) values determined by a Global Positioning System (GPS) receiver to compute a User Equivalent Range Error (UERE) and filter it.
  • HFOM Horizontal Figure of Merit
  • HDOP Horizontal Dilution of Precision
  • GPS Global Positioning System
  • UERE User Equivalent Range Error
  • the filtered UERE value is run through a hysteresis to determine the GPS receiver type.
  • FIGURE 1 illustrates a block diagram of an example environment and aircraft formed in accordance with an embodiment of the present invention.
  • FIGURES 2 and 3 illustrate a flow diagram of an example process performed by the auto detector of FIGURE 1 in accordance with an embodiment of the invention.
  • FIGURE 1 illustrates a block diagram of an example environment and aircraft 20 formed in accordance with an embodiment of the present invention.
  • the aircraft 20 includes a Global Positioning System (GPS) receiver 28 and an Enhanced Ground Proximity Warning System (EGPWS) 26 or another system that uses GPS information that is received by the GPS receiver 28 from a plurality of satellites 22.
  • the EGPWS 26 includes an automatic GPS engine detector 30.
  • the automatic GPS engine detector 30 analyzes data sent from each of the satellites 22 and determines the type of GPS engine included in the receiver 28. If the auto detector 30 determines that a GPS engine is of the Selective Availability (SA)-on type, limits for some of the data that is sent are reset to more applicable values.
  • SA Selective Availability
  • FIGURES 2 and 3 illustrate a flow diagram of an example process 50 performed by the detector 30 of FIGURE 1, in accordance with an embodiment of the invention.
  • the process 50 begins at a block 52 whereby the GPS receiver 28 receives GPS signals from one or more of the plurality of GPS satellites 22.
  • the detector 30 receives the GPS signals from the GPS receiver 28 and determines the engine type for the GPS receiver 28.
  • the process performed at the block 54 is described in more detail below with regard to FIGURE 3.
  • Horizontal Figure of Merit (HFOM) limits for each position solution are set based on the determined engine type.
  • the HFOM limits are not changed if the engine type is determined to be an SA-on/off or Dynamic SA-on/off type.
  • the HFOM limits are set to a pre-defined value if the step performed at the block 54 determines that the engine 70 type is an SA-on type.
  • the process 50 can be performed at start-up of the receiver 28 and detector 30.
  • FIGURE 3 shows a process at block 54 from FIGURE 2 for determining the GPS receiver engine type, in accordance with an embodiment of the invention.
  • the process 70 determines whether HFOM and a Horizontal Dilution of Precision (HDOP) values are greater than 0. The process 70 is complete if the results of the decision block 74 indicate that either the HFOM or HDOP values are equal to or less than 0. However, if both the HFOM and HDOP values are greater than 0, the process 70 continues to block 76 where an estimate User Equivalent Range Error (UERE) is computed.
  • the UERE estimate is computed with the following equation:
  • a first decision block 80 determines if the result of the low pass filtering performed at the block 78 is greater than 27 meters. If the output of the low pass filter is greater than 27 meters, then the GPS engine for the receiver is determined to be an SA - on type. If the output of the low pass filter is less than 27 meters, then a second decision block 86 determines whether the output of the low pass filter is less than 14 meters. If the output of the low pass filter is not less than 14 meters, then the process ends. If the output of the low pass filter is less than 14 meters, then the GPS engine for the receiver is determined to be an SA-off type.
  • the process 70 described in the above embodiment determines whether a GPS engine is an SA-on or SA-off type.
  • the values used at the decision blocks 80 and 86 may vary depending upon desired results.
  • the low pass filter is pre-charged to a central value of approximately 20.5 meters, but could be of other values depending upon the desired filtering results.
  • a Runway Awareness and Advisory System uses the determination of whether the engine is an SA-on or SA-off type to set appropriate thresholds. RAAS sets the threshold for operation to 0.05 run for an SA-on receiver engine and to 0.02 run for an SA-off receiver engine to reduce nuisances while improving availability.

Abstract

An apparatus and method for detecting the type of Selective Availability (SA) engine in a Global Positioning System (GPS) receiver. The apparatus (30) reverse computes a User Equivalent Range Error (UERE) value and filters it. The filtered value is run through a hysteresis to determine the GPS engine type. The engine type determination is used to adjust values used by other systems.

Description

AUTOMATIC DETECTION OF GPS SA BASE VALUE FOR HFOM
BACKGROUND OF THE INVENTION
There are currently at least three types of Global Positioning System (GPS) engines used on GPS receivers for generating GPS data: Selective Availability (SA)-on, SA-on/off, and Dynamic SA-on/off. These engines attempt to compensate for the SA state of satellites and atmospheric or other satellite errors by inflating the actual Horizontal Figure of Merit (HFOM). A single aircraft may include a combination of these GPS receiver engines.
SA was turned off in May of 2000 and will continue to be off for the foreseeable future. With SA off, the GPS accuracy is possible to around 10 meters. However, the three types of GPS engines report different values for HFOM because of their differing assumptions about the satellites. The SA-on engine will report numbers with accuracy of 55 to 100 meters. The SA-on/off engine will report HFOMs of 18 to 46 meters. The Dynamic SA-on/off engine will report HFOMs of 10 to 18 meters. Although the HFOM is generally acceptable when received from the SA-on/off and Dynamic SA-on/off engines, accommodating the SA-on engine requires expanding the threshold values. Therefore, there is a need to detect the GPS engine type of a receiver to allow receiving systems to optimally operate.
BRIEF SUMMARY OF THE INVENTION
In one embodiment, the invention determines the engine type by using Horizontal Figure of Merit (HFOM) and Horizontal Dilution of Precision (HDOP) values determined by a Global Positioning System (GPS) receiver to compute a User Equivalent Range Error (UERE) and filter it. The filtered UERE value is run through a hysteresis to determine the GPS receiver type.
BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWING
The preferred and alternative embodiments of the present invention are described in detail below with reference to the following drawings.
FIGURE 1 illustrates a block diagram of an example environment and aircraft formed in accordance with an embodiment of the present invention; and
FIGURES 2 and 3 illustrate a flow diagram of an example process performed by the auto detector of FIGURE 1 in accordance with an embodiment of the invention.
DETAILED DESCRIPTION OF THE INVENTION
FIGURE 1 illustrates a block diagram of an example environment and aircraft 20 formed in accordance with an embodiment of the present invention. The aircraft 20 includes a Global Positioning System (GPS) receiver 28 and an Enhanced Ground Proximity Warning System (EGPWS) 26 or another system that uses GPS information that is received by the GPS receiver 28 from a plurality of satellites 22. In one embodiment, the EGPWS 26 includes an automatic GPS engine detector 30. The automatic GPS engine detector 30 analyzes data sent from each of the satellites 22 and determines the type of GPS engine included in the receiver 28. If the auto detector 30 determines that a GPS engine is of the Selective Availability (SA)-on type, limits for some of the data that is sent are reset to more applicable values. FIGURES 2 and 3 illustrate a flow diagram of an example process 50 performed by the detector 30 of FIGURE 1, in accordance with an embodiment of the invention. As shown in FIGURE 2, the process 50 begins at a block 52 whereby the GPS receiver 28 receives GPS signals from one or more of the plurality of GPS satellites 22. Next, at a block 54 the detector 30 receives the GPS signals from the GPS receiver 28 and determines the engine type for the GPS receiver 28. The process performed at the block 54 is described in more detail below with regard to FIGURE 3.
At a block 56, Horizontal Figure of Merit (HFOM) limits for each position solution are set based on the determined engine type. In one embodiment, the HFOM limits are not changed if the engine type is determined to be an SA-on/off or Dynamic SA-on/off type. The HFOM limits are set to a pre-defined value if the step performed at the block 54 determines that the engine 70 type is an SA-on type. Thus, the process 50 can be performed at start-up of the receiver 28 and detector 30.
FIGURE 3 shows a process at block 54 from FIGURE 2 for determining the GPS receiver engine type, in accordance with an embodiment of the invention. First, at a decision block 74, the process 70 determines whether HFOM and a Horizontal Dilution of Precision (HDOP) values are greater than 0. The process 70 is complete if the results of the decision block 74 indicate that either the HFOM or HDOP values are equal to or less than 0. However, if both the HFOM and HDOP values are greater than 0, the process 70 continues to block 76 where an estimate User Equivalent Range Error (UERE) is computed. The UERE estimate is computed with the following equation:
HFOM
2(HDOP)
At a block 78, the result of the computation performed at block 76 is sent to a low pass filter. A first decision block 80 determines if the result of the low pass filtering performed at the block 78 is greater than 27 meters. If the output of the low pass filter is greater than 27 meters, then the GPS engine for the receiver is determined to be an SA - on type. If the output of the low pass filter is less than 27 meters, then a second decision block 86 determines whether the output of the low pass filter is less than 14 meters. If the output of the low pass filter is not less than 14 meters, then the process ends. If the output of the low pass filter is less than 14 meters, then the GPS engine for the receiver is determined to be an SA-off type. Thus, the process 70 described in the above embodiment determines whether a GPS engine is an SA-on or SA-off type. The values used at the decision blocks 80 and 86 may vary depending upon desired results. Also, the low pass filter is pre-charged to a central value of approximately 20.5 meters, but could be of other values depending upon the desired filtering results.
In one particular embodiment, a Runway Awareness and Advisory System (RAAS) uses the determination of whether the engine is an SA-on or SA-off type to set appropriate thresholds. RAAS sets the threshold for operation to 0.05 run for an SA-on receiver engine and to 0.02 run for an SA-off receiver engine to reduce nuisances while improving availability. In another particular embodiment, EGPWS uses the determination of whether the engine is an SA-on or SA-off type to evaluate whether to re-compute the HFOM value. The HFOM value is not re-computed when the engine type is an SA-off; however, the HFOM value is recomputed when the engine type is an SA-on (e.g. HFOM = 2 x 8 meters x HDOP).

Claims

WHAT IS CLAIMED IS:
1. A method for automatically determining a selective availability engine type of a Global Positioning System (GPS) receiver, the method comprising: receiving signals at a GPS receiver having a selective availability engine; determining the type of the selective availability engine based on the received signals; and adjusting at least one value based on the engine type determination.
2. The method of Claim 1, wherein the at least one value includes a horizontal figure of merit (HFOM) limit.
3. The method of Claim 1, further comprising determining at least one Horizontal Figure of Merit (HFOM) value and at least one Horizontal Dilution of Precision (HDOP) value.
4. The method of Claim 3 , wherein determining further comprises: computing an estimate of User Equivalent Range Error (UERE) based on the
HFOM and the HDOP values; filtering the UERE estimate; and determining the engine type based on the filtered UERE.
5. The method of Claim 4, wherein filtering includes a hysteresis analysis.
6. An apparatus for automatically determining a selective availability engine type of a Global Positioning System (GPS) receiver, the apparatus comprising: a means for receiving signals at a GPS receiver having a selective availability engine; a means for determining the type of the selective availability engine based on the received signals; and a means for adjusting at least one value based on the engine type determination.
7. The apparatus of Claim 6, wherein the at least one value includes a Horizontal Figure of Merit (HFOM) limit.
8. The apparatus of Claim 6, further comprising a means for determining at least one Horizontal Figure of Merit (HFOM) value and at least one Horizontal Dilution of Precision (HDOP) value.
9. The apparatus of Claim 8, wherein determining further comprises: a means (30) for computing an estimate of User Equivalent Range Error (UERE) based on the HFOM and the HDOP values; a means (30) for filtering the UERE estimate; and a means (30) for determining the selective availability engine type based on the filtered UERE.
10. The apparatus of Claim 9, wherein the means (30) for filtering includes a hysteresis analysis.
PCT/US2006/029511 2005-07-29 2006-07-28 Automatic detection of gps sa base value for hfom WO2008051182A1 (en)

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DE602006018071T DE602006018071D1 (en) 2005-07-29 2006-07-28 AUTOMATIC DETECTION OF GPS SA BASE FOR HFOM
EP06851854A EP2016439B1 (en) 2005-07-29 2006-07-28 Automatic detection of gps sa base value for hfom

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US11/161,340 US7570205B2 (en) 2005-07-29 2005-07-29 Automatic detection of GPS SA base value for HFOM
US11/161,340 2005-07-29

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US7570205B2 (en) 2009-08-04
DE602006018071D1 (en) 2010-12-16
EP2016439A1 (en) 2009-01-21
US20070024495A1 (en) 2007-02-01
EP2016439B1 (en) 2010-11-03

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